Mobile Robot Path Planning based on Conformal Geometric Algebra and Teaching-Learning Based Optimization

被引：6

作者：

Hernandez-Barragan, Jesus ^{[1
]}

机构：

[1] Univ Guadalajara, CUCEI, Comp Sci Dept, Guadalajara 44430, Jalisco, Mexico

来源：

IFAC PAPERSONLINE | 2018年 / 51卷 / 13期

关键词：

Path Planning; Mobile Robots; Geometric Algebra; Metaheuristic Algorithms; OMNIDIRECTIONAL VISION; FRAMEWORK; ALGORITHM;

D O I：

10.1016/j.ifacol.2018.07.301

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A crucial task for mobile robots is to move safely through its environment. Therefore, the determination of a safe path planning algorithm is a key problem. In this paper, the authors present a path planning approach based on Conformal Geometric Algebra and Teaching Learning Based Optimization. The proposed approach solves the path planning for 2D and 3D environments. The simulation results proved the effectiveness of the proposed method. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：338 / 343

页数：6

共 28 条

[1]

[Anonymous], 2009, GEOMETRIC ALGEBRA AP

[2]

[Anonymous], 2015, 2015 ROBOTICS IRANOP, DOI DOI 10.1109/RIOS.2015.7270743

[3] Integration of Hough Transform of lines and planes in the framework of conformal geometric algebra for 2D and 3D robot vision [J].

Bernal-Marin, Miguel ;

Bayro-Corrochano, Eduardo .

PATTERN RECOGNITION LETTERS, 2011, 32 (16) :2213-2223

[4]

Hestenes D, 2001, GEOMETRIC COMPUTING WITH CLIFFORD ALGEBRAS, P3

[5] A powerful and efficient algorithm for numerical function optimization: artificial bee colony (ABC) algorithm [J].

Karaboga, Dervis ;

Basturk, Bahriye .

JOURNAL OF GLOBAL OPTIMIZATION, 2007, 39 (03) :459-471

[6]

Li HB, 2001, GEOMETRIC COMPUTING WITH CLIFFORD ALGEBRAS, P27

[7] Efficient collision-free path-planning of multiple mobile robots system using efficient artificial bee colony algorithm [J].

Liang, Jun-Hao ;

Lee, Ching-Hung .

ADVANCES IN ENGINEERING SOFTWARE, 2015, 79 :47-56

[8] Omnidirectional vision and conformal geometric algebra for visual landmark identification [J].

Lopez-Franco, C. ;

Bayro-Corrochano, E. .

ROBOTICA, 2008, 26 :559-569

[9] Body sensor calibration. and construction of 3D maps for robot navigation using the framework of conformal geometric algebra [J].

Lopez-Franco, C. ;

Bayro-Corrochano, E. .

ROBOTICA, 2008, 26 :465-481

[10] Unified model for omnidirectional vision using the conformal geometric algebra framework [J].

López-Franco, C ;

Bayro-Corrochano, E .

PROCEEDINGS OF THE 17TH INTERNATIONAL CONFERENCE ON PATTERN RECOGNITION, VOL 4, 2004, :48-51

← 1 2 3 →